stepper15.h

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/****************************************************************************
** Copyright (C) 2020 MikroElektronika d.o.o.
** Contact: https://www.mikroe.com/contact
**
** Permission is hereby granted, free of charge, to any person obtaining a copy
** of this software and associated documentation files (the "Software"), to deal
** in the Software without restriction, including without limitation the rights
** to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
** copies of the Software, and to permit persons to whom the Software is
** furnished to do so, subject to the following conditions:
** The above copyright notice and this permission notice shall be
** included in all copies or substantial portions of the Software.
**
** THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
** EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
** OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
** IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
** DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT
** OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE
**  USE OR OTHER DEALINGS IN THE SOFTWARE.
****************************************************************************/
 
#ifndef STEPPER15_H
#define STEPPER15_H
 
#ifdef __cplusplus
extern "C"{
#endif
 
#ifdef PREINIT_SUPPORTED
#include "preinit.h"
#endif
 
#ifdef MikroCCoreVersion
    #if MikroCCoreVersion >= 1
        #include "delays.h"
    #endif
#endif
 
#include "drv_digital_out.h"
#include "drv_digital_in.h"
#include "drv_i2c_master.h"
#include "drv_spi_master.h"
    
 
#define STEPPER15_REG_INPUT_PORT                               0x00
#define STEPPER15_REG_OUTPUT_PORT                              0x01
#define STEPPER15_REG_POLARITY_INVERSION                       0x02
#define STEPPER15_REG_CONFIGURATION                            0x03
 
#define STEPPER15_REG_FAULT_STATUS                             0x00
#define STEPPER15_REG_DIAG_STATUS_1                            0x01
#define STEPPER15_REG_DIAG_STATUS_2                            0x02
#define STEPPER15_REG_CTRL_1                                   0x03
#define STEPPER15_REG_CTRL_2                                   0x04
#define STEPPER15_REG_CTRL_3                                   0x05
#define STEPPER15_REG_CTRL_4                                   0x06
#define STEPPER15_REG_CTRL_5                                   0x07
#define STEPPER15_REG_CTRL_6                                   0x08
#define STEPPER15_REG_CTRL_7                                   0x09
#define STEPPER15_REG_CTRL_8                                   0x0A
 
 // stepper15_reg
 
#define STEPPER15_SET_DIRECTION_BIT_MASK                       0xFB
#define STEPPER15_SET_DIRECTION_CCW                            0x00
#define STEPPER15_SET_DIRECTION_CW                             0x04
 
#define STEPPER15_SET_WORK_MODE_BIT_MASK                       0xFE
#define STEPPER15_SET_WORK_MODE_SLEEP                          0x00
#define STEPPER15_SET_WORK_MODE_ENABLE_DEVICE                  0x01
 
#define STEPPER15_SET_OUT_MODE_BIT_MASK                        0xFD
#define STEPPER15_SET_OUT_MODE_DEVICE_OUTPUTS_ENABLE           0x00
#define STEPPER15_SET_OUT_MODE_DEVICE_OUTPUTS_DISABLE          0x02
 
#define STEPPER15_SET_CONFIG_DEFAULT                           0xF8
 
#define STEPPER15_FAULT_ST_OL_MASK                             0x01        
#define STEPPER15_FAULT_ST_OT_MASK                             0x02        
#define STEPPER15_FAULT_ST_STL_SLIP_MASK                       0x04        
#define STEPPER15_FAULT_ST_OCP_MASK                            0x08        
#define STEPPER15_FAULT_ST_CPUV_MASK                           0x10        
#define STEPPER15_FAULT_ST_UVLO_MASK                           0x20        
#define STEPPER15_FAULT_ST_SPI_ERROR_MASK                      0x40        
#define STEPPER15_FAULT_ST_FAULT_MASK                          0x80 
 
#define STEPPER15_DIAG_1_OCP_HS1_A_MASK                        0x01       
#define STEPPER15_DIAG_1_OCP_LS1_A_MASK                        0x02       
#define STEPPER15_DIAG_1_OCP_HS2_A_MASK                        0x04       
#define STEPPER15_DIAG_1_OCP_LS2_A_MASK                        0x08       
#define STEPPER15_DIAG_1_OCP_HS1_B_MASK                        0x10       
#define STEPPER15_DIAG_1_OCP_LS1_B_MASK                        0x20       
#define STEPPER15_DIAG_1_OCP_HS2_B_MASK                        0x40       
#define STEPPER15_DIAG_1_OCP_LS2_B_MASK                        0x80
 
#define STEPPER15_DIAG_2_OL_A_MASK                             0x01       
#define STEPPER15_DIAG_2_OL_B_MASK                             0x02       
#define STEPPER15_DIAG_2_SLIP_MASK                             0x04       
#define STEPPER15_DIAG_2_STALL_MASK                            0x08       
#define STEPPER15_DIAG_2_STL_LRN_OK_MASK                       0x10       
#define STEPPER15_DIAG_2_OTS_MASK                              0x20       
#define STEPPER15_DIAG_2_OTW_MASK                              0x40       
#define STEPPER15_DIAG_2_UTW_MASK                              0x80 
 
#define STEPPER15_CTRL1_SLEW_RATE_MASK                         0x03       
#define STEPPER15_CTRL1_EN_NSR_MASK                            0x04       
#define STEPPER15_CTRL1_RSVD1_MASK                             0x08       
#define STEPPER15_CTRL1_TRQ_DAC_MASK                           0xF0
#define STEPPER15_SET_CTRL1_TRQ_100                            0x00
#define STEPPER15_SET_CTRL1_TRQ_93_75                          0x10
#define STEPPER15_SET_CTRL1_TRQ_87_5                           0x20
#define STEPPER15_SET_CTRL1_TRQ_81_25                          0x30
#define STEPPER15_SET_CTRL1_TRQ_75                             0x40
#define STEPPER15_SET_CTRL1_TRQ_68_75                          0x50
#define STEPPER15_SET_CTRL1_TRQ_62_5                           0x60
#define STEPPER15_SET_CTRL1_TRQ_56_25                          0x70
#define STEPPER15_SET_CTRL1_TRQ_50                             0x80
#define STEPPER15_SET_CTRL1_TRQ_43_75                          0x90
#define STEPPER15_SET_CTRL1_TRQ_37_5                           0xA0
#define STEPPER15_SET_CTRL1_TRQ_31_25                          0xB0
#define STEPPER15_SET_CTRL1_TRQ_25                             0xC0
#define STEPPER15_SET_CTRL1_TRQ_18_75                          0xD0
#define STEPPER15_SET_CTRL1_TRQ_12_5                           0xE0
#define STEPPER15_SET_CTRL1_TRQ_6_25                           0xF0
 
 
#define STEPPER15_CTRL2_DECAY_MASK                             0x07       
#define STEPPER15_CTRL2_TOFF_MASK                              0x18       
#define STEPPER15_CTRL2_RSVD2_MASK                             0x60       
#define STEPPER15_CTRL2_DIS_OUT_MASK                           0x80
#define STEPPER15_SET_CTRL2_OUTPUT_ENABLE                      0x00
#define STEPPER15_SET_CTRL2_OUTPUT_DISABLE                     0x80
#define STEPPER15_SET_CTRL2_TOFF_7_us                          0x00
#define STEPPER15_SET_CTRL2_TOFF_16_us                         0x08
#define STEPPER15_SET_CTRL2_TOFF_24_us                         0x10
#define STEPPER15_SET_CTRL2_TOFF_32_us                         0x18
#define STEPPER15_SET_CTRL2_SMART_TUNE_RIPPLE_CTRL             0x07
 
#define STEPPER15_CTRL3_MICROSTEP_MODE_MASK                    0x0F       
#define STEPPER15_CTRL3_SPI_STEP_MASK                          0x10       
#define STEPPER15_CTRL3_SPI_DIR_MASK                           0x20       
#define STEPPER15_CTRL3_STEP_MASK                              0x40       
#define STEPPER15_CTRL3_DIR_MASK                               0x80
#define STEPPER15_SET_SPI_DIR_INPUT_PIN                        0x00
#define STEPPER15_SET_SPI_DIR_SPI                              0x80
#define STEPPER15_SET_SPI_STEP_INPUT_PIN                       0x00
#define STEPPER15_SET_SPI_STEP_SPI                             0x40
#define STEPPER15_SET_CTRL3_SET_MICROSTEP_MODE_FULL_STEP       0x00
 
#define STEPPER15_CTRL4_TW_REP_MASK                            0x01         
#define STEPPER15_CTRL4_OTSD_MODE_MASK                         0x02         
#define STEPPER15_CTRL4_OCP_MODE_MASK                          0x04         
#define STEPPER15_CTRL4_EN_OL_MASK                             0x08         
#define STEPPER15_CTRL4_LOCK_MASK                              0x70         
#define STEPPER15_CTRL4_CLR_FLT_MASK                           0x80
#define STEPPER15_SET_CTRL4_CLR_FLT                            0x80
#define STEPPER15_SET_CTRL4_UNLOCK_ALL_REG                     0x30
 
#define STEPPER15_CTRL5_SLIP_REP_MASK                          0x01      
#define STEPPER15_CTRL5_EN_SLIP_MASK                           0x02      
#define STEPPER15_CTRL5_EN_STLFCHG_MASK                        0x04      
#define STEPPER15_CTRL5_STL_REP_MASK                           0x08
#define STEPPER15_SET_CTRL5_REPORTED_ON_FAULT                  0x08
                                                              
#define STEPPER15_CTRL6_STALL_TH_MASK                          0xFF
                                                              
#define STEPPER15_CTRL7_STALL_TH_MASK                          0xFF
 
#define STEPPER15_CTRL8_REV_ID_MASK                            0x0F         
#define STEPPER15_CTRL8_STL_UPDATE_MODE_MASK                   0x10         
#define STEPPER15_CTRL8_UTW_REP_MASK                           0x20         
#define STEPPER15_CTRL8_RSVD3_MASK                             0xC0 
 
#define STEPPER15_SET_DEV_ADDR                                 0x70
 
 // stepper15_set
 
#define STEPPER15_DIRECTION_COUNTERCLOCKWISE                      0
#define STEPPER15_DIRECTION_CLOCKWISE                             1
 
 // direction
 
#define STEPPER15_WORK_MODE_SLEEP                                 0
#define STEPPER15_WORK_MODE_ENABLE_DEVICE                         1
 
 // work_mode
 
#define STEPPER15_OUTPUT_MODE_OUTPUTS_DISABLE                     0
#define STEPPER15_OUTPUT_MODE_OUTPUTS_ENABLE                      1
 
 // output_mode
 
#define STEPPER15_FAULT_CONDITION                                 0
#define STEPPER15_CORRECT_CONDITION                               1
 
 // fault_condition
 
#define STEPPER15_MAP_MIKROBUS( cfg, mikrobus )     \
    cfg.scl  = MIKROBUS( mikrobus, MIKROBUS_SCL );  \
    cfg.sda  = MIKROBUS( mikrobus, MIKROBUS_SDA );  \
    cfg.miso = MIKROBUS( mikrobus, MIKROBUS_MISO ); \
    cfg.mosi = MIKROBUS( mikrobus, MIKROBUS_MOSI ); \
    cfg.sck  = MIKROBUS( mikrobus, MIKROBUS_SCK );  \
    cfg.cs   = MIKROBUS( mikrobus, MIKROBUS_CS );   \
    cfg.rst = MIKROBUS( mikrobus, MIKROBUS_RST );   \
    cfg.pwm = MIKROBUS( mikrobus, MIKROBUS_PWM );   \
    cfg.int_pin = MIKROBUS( mikrobus, MIKROBUS_INT )
 
 // stepper15_map
 // stepper15
 
typedef struct stepper15_s
{
    digital_out_t  rst;              
    digital_out_t  pwm;              
    digital_in_t  int_pin;           
    i2c_master_t  i2c;               
    spi_master_t  spi;               
    uint8_t     slave_address;       
    pin_name_t  chip_select;         
} stepper15_t;
 
typedef struct
{
    pin_name_t  scl;        
    pin_name_t  sda;        
    pin_name_t  miso;       
    pin_name_t  mosi;       
    pin_name_t  sck;        
    pin_name_t  cs;         
    pin_name_t  rst;        
    pin_name_t  pwm;        
    pin_name_t  int_pin;    
    uint32_t  i2c_speed;    
    uint8_t   i2c_address;  
    uint32_t                           spi_speed;       
    spi_master_mode_t                  spi_mode;        
    spi_master_chip_select_polarity_t  cs_polarity;     
} stepper15_cfg_t;
 
typedef enum
{
    STEPPER15_OK = 0,
    STEPPER15_ERROR = -1
 
} stepper15_return_value_t;
 
void stepper15_cfg_setup ( stepper15_cfg_t *cfg );
 
err_t stepper15_init ( stepper15_t *ctx, stepper15_cfg_t *cfg );
 
err_t stepper15_default_cfg ( stepper15_t *ctx );
 
err_t stepper15_i2c_write ( stepper15_t *ctx, uint8_t reg, uint8_t *data_in, uint8_t len );
 
err_t stepper15_i2c_read ( stepper15_t *ctx, uint8_t reg, uint8_t *data_out, uint8_t len );
 
err_t stepper15_spi_write ( stepper15_t *ctx, uint8_t reg, uint8_t *data_in, uint8_t len );
 
err_t stepper15_spi_read ( stepper15_t *ctx, uint8_t reg, uint8_t *data_out );
 
void stepper15_reset ( stepper15_t *ctx );
 
void stepper15_motor_stop ( stepper15_t *ctx );
 
uint8_t stepper15_get_interrupt ( stepper15_t *ctx );
 
err_t stepper15_make_one_step ( stepper15_t *ctx, uint8_t step_speed );
 
err_t stepper15_set_direction ( stepper15_t *ctx, uint8_t direction );
 
err_t stepper15_set_work_mode ( stepper15_t *ctx, uint8_t work_mode );
 
err_t stepper15_set_output_mode ( stepper15_t *ctx, uint8_t output_mode );
 
err_t stepper15_set_torque_dac ( stepper15_t *ctx, uint8_t trq_data );
 
err_t stepper15_set_counts ( stepper15_t *ctx, uint8_t counts );
 
uint8_t stepper15_get_fault_condition ( stepper15_t *ctx );
 
err_t stepper15_step_by_angle ( stepper15_t *ctx, uint8_t step_speed, float angle, uint16_t step_360 );
 
#ifdef __cplusplus
}
#endif
#endif // STEPPER15_H
 
 // stepper15
 
// ------------------------------------------------------------------------ END